#ifndef CLOSELOOP_H
#define CLOSELOOP_H

void PWMInit();
void MoterEncoderInit();
float _eletricalAngle(float shaft_angel, int pole_pairs);
float _eletricalAngle() ;
float _normalizeAngle(float angle) ;
void setPWM(float Ua, float Ub, float Uc) 
void setPhaseVoltage(float Uq,float Ud,float angle_el);

#endif